Rotation.from_axis_angle_vector

classmethod Rotation.from_axis_angle_vector(axis_angle_vector, point=[0, 0, 0])

Construct a rotation transformation from an axis-angle vector.

Parameters:

axis_angle_vector[float, float, float] | compas.geometry.Vector

Three numbers that represent the axis of rotation and angle of rotation through the vector’s magnitude.

point[float, float, float] | compas.geometry.Point, optional

A point to perform a rotation around an origin other than [0, 0, 0].

Returns:

compas.geometry.Rotation

Examples

>>> from compas.tolerance import TOL
>>> aav1 = [-0.043, -0.254, 0.617]
>>> R = Rotation.from_axis_angle_vector(aav1)
>>> aav2 = R.axis_angle_vector
>>> TOL.is_allclose(aav1, aav2, atol=1e-3)
True